Self-moving robot system

ABSTRACT

A self-moving robot system is provided, including a dust collection base station and a self-moving robot, where the self-moving robot includes a main machine and a dust containing box; the dust collection base station includes a power mechanism and a transfer, where the transfer can assist separation of the dust containing box from the main machine or mounting of the dust containing box on the main machine; and the power mechanism drives the transfer to move the dust containing box to a dust collection opening of a dust collector, so as to transfer debris to the dust collector. The dust containing box is transferred by the transfer with relatively low working noise. During dust collection, there is no need to move the entire self-moving robot with a relatively small system load and relatively high use comfort of a user.

CROSS-REFERENCE TO RELATED APPLICATION

This application is National Stage Application of InternationalApplication No. PCT/CN2021/098740, filed on Jun. 7, 2021, which claimsthe benefit of earlier filing date and right of priority to KoreanApplication No. 202010507418.7, filed on Jun. 5, 2020, and KoreanApplication No. 202021016984.X, filed on Jun. 5, 2020, the contents ofwhich are all hereby incorporated by reference herein in their entirety.

BACKGROUND Technical Field

The present disclosure relates to the field of electromechanicaltechnologies, and in particular, to a self-moving robot system.

Related Art

A base station of a conventional self-moving robot is mainly configuredto charge the self-moving robot, and a user needs to dump and clean adust containing box of the self-moving robot. In order to reduce a userintervention frequency, a “suction type” dust collection base station isintroduced, and an air pump is mounted in the dust collection basestation to suck away debris in the dust containing box of theself-moving robot.

At present, during operation of the “suction type” dust collection basestation, there is a common problem of loud noise with a noise level evenreaching 75 dB, far exceeding a level of 40 dB to 60 dB for normalpeople's conversation, which affects the normal conversation of usersand makes people feel upset and distracted. The dust collection basestation performs a suction operation every time the self-moving robotreturns to the base station, and frequent suction with loud noise causesdiscomfort to the user and damages the hearing nerve.

SUMMARY

The present disclosure is made in view of the status of the prior art.An objective of the present disclosure is to provide a self-moving robotsystem. The self-moving robot system has a dust collection base station,and the dust collection base station does not use an air pump to suckdebris from a self-moving robot with relatively low working noise andrelatively high use comfort of a user.

A self-moving robot system is provided, including a dust collection basestation and a self-moving robot, where the dust collection base stationis configured to collect debris of the self-moving robot, and theself-moving robot includes a main machine and a dust containing box,where the dust containing box is detachably mounted on the main machine;

the dust collection base station includes a power mechanism, a dustcollector, and a transfer, where the transfer can be engaged with thedust containing box and assist separation of the dust containing boxfrom the main machine or assist mounting of the dust containing box onthe main machine; the dust collector is configured to collect debrisfrom the dust containing box; and the power mechanism drives thetransfer and enables the transfer to move the dust containing box to adust collection opening of the dust collector, so as to transfer thedebris to the dust collector.

Preferably, the self-moving robot system further includes a first coveropener, where the first cover opener can open or close a box cover ofthe dust containing box, and when the box cover of the dust containingbox is opened, the debris in the dust containing box can be transferredto the dust collector.

Preferably, the dust collection base station includes an operatingposition for the self-moving robot to stop, and the dust collector islocated above the operating position.

Preferably, the power mechanism includes a conveying assembly, where theconveying assembly includes a first conveying portion arranged in avertical direction and a second conveying portion arranged in ahorizontal direction, and the transfer is connected to the powermechanism to move along with the conveying assembly.

Preferably, the conveying assembly includes a synchronous belt assembly,the first conveying portion includes a first synchronous belt, and thesecond conveying portion includes a second synchronous belt.

Preferably, the self-moving robot system includes a loading andunloading portion, where the loading and unloading portion is configuredto operate the dust containing box to be separated from the main machineor be mounted on the main machine.

Preferably, one of the dust containing box and the main machine includesa lock pin, the other of the dust containing box and the main machineincludes a lock slot, and the lock pin can be inserted into or exit fromthe lock slot; the loading and unloading portion can apply a force toone of the dust containing box and the main machine, so that the lockpin exits from the lock slot, to assist separation of the dustcontaining box from the main machine; and/or the loading and unloadingportion can release the force applied to the lock pin, so that the lockpin is inserted into the lock slot, to assist mounting of the dustcontaining box on the main machine.

Preferably, the loading and unloading portion includes a snap-fit, thetransfer includes an electromagnetic switch, a driving spring, and acarrying portion, the snap-fit is connected to the driving spring, theelectromagnetic switch drives the snap-fit to push or release the lockpin, and the carrying portion is configured to carry the dust containingbox separated from the main machine; or the loading and unloadingportion includes a clamping claw, the transfer includes a clamping motorand a first gear structure, the clamping claw includes a second rackstructure, and the first gear structure driven by the clamping motormeshes with the second rack structure, to drive the clamping claw toclamp or loosen the dust containing box.

Preferably, the self-moving robot includes an operating portion, wherethe operating portion can assist separation of the dust containing boxfrom the main machine or mounting of the dust containing box on the mainmachine in response to pressing or releasing pressing of a user.

Preferably, the dust collection base station includes a sealing portion,where the sealing portion can be sealedly connected to the dustcontaining box and the dust collection opening.

Preferably, the sealing portion is provided with a large opening end anda small opening end, an aperture of the large opening end is greaterthan an aperture of the small opening end, the large opening end isconfigured to be sleeved with the dust collection opening, and the smallopening end is configured to connect the dust containing box.

Preferably, the dust collection base station further includes anauxiliary dust dumping apparatus, where the auxiliary dust dumpingapparatus includes a vibration motor and an eccentric assembly, thevibration motor drives the eccentric assembly to vibrate, the auxiliarydust dumping apparatus is arranged on the transfer and moves along withthe transfer, and the eccentric assembly can be connected to or incontact with the dust containing box, so that when vibrating, theeccentric assembly can drive the dust containing box to vibrate.

Preferably, the auxiliary dust dumping apparatus includes a damper,where the damper is connected between the vibration motor and thetransfer.

Preferably, the dust collection base station includes a charger, wherewhen the self-moving robot stops at the dust collection base station,the charger is electrically connected to the self-moving robot to chargethe self-moving robot.

Preferably, the dust collector includes a garbage bin and a foldablecover, where the garbage bin is provided with the dust collectionopening, the foldable cover can cover the dust collection opening whenbeing unfolded, and when the transfer transfers the dust containing box,the dust containing box can push the foldable cover to be folded, so asto expose the dust collection opening.

Preferably, the first cover opener includes a cover opening motor and arotational portion, where the rotational portion is connected to the boxcover of the dust containing box, and when the dust containing box ismoved to the dust collection opening of the dust collector, the coveropening motor drives the rotational portion to rotate, so as to open thebox cover of the dust containing box; and after the dust containing boxcompletes debris dumping, the cover opening motor drives the rotationalportion to rotate, so as to close the box cover of the dust containingbox.

Preferably, the self-moving robot system includes a second cover opener,where the second cover opener includes: a driving member, arranged onthe loading and unloading portion; and a rotational member, arranged onone side of the dust containing box and being in contact with the boxcover of the dust containing box, where the rotational member isconfigured to rotate between a first position and a second positionunder the drive of the driving member; when the rotational member islocated at the first position, the box cover is closed; and when therotational member rotates from the first position to the secondposition, the box cover is opened under the drive of the rotationalmember.

The technical solution provided in the present disclosure at least hasthe following beneficial effects:

In the self-moving robot system, the dust containing box of theself-moving robot can be removed from the main machine, and the dustcontaining box can be moved to the dust collection opening, so thatdebris and the like in the dust containing box are collected by the dustcollector, and the debris and the like are uniformly cleaned, to preventa user from frequently taking out the debris. In addition, during dustcollection, there is no need to move the entire self-moving robot with arelatively small system load and a relatively low requirement on adriving capability of a driving apparatus. The dust containing box istransferred by the transfer without using an air pump to suck the debrisand the like in the dust containing box with relatively low workingnoise and relatively high use comfort of the user.

The technical solution provided in the present disclosure may furtherhave the following beneficial effects:

When the synchronous belt assembly transfers the transfer, the dustcollector may be loaded and unloaded, so that the dust containing boxcan be transferred and the dust collector can be loaded and unloaded,and a loading and unloading operation and a moving operation may besimultaneously performed on the dust collector and the dust containingbox.

When the transfer transfers the dust containing box, the clamping clawbears the entire weight of the dust containing box, and the first gearstructure can mesh with the second rack structure to provide a reliablelocking force, thereby ensuring that the dust containing box is stablyand reliably transferred.

The damper has a function of shock absorption, to reduce a vibrationforce transmitted by the vibration motor to the transfer and enable thevibration force to act on the dust containing box as much as possible.

When the dust containing box is transferred to the dust collectionopening, the auxiliary dust dumping apparatus slaps the dust containingbox, to facilitate dumping of debris and the like.

When the transfer transfers the dust containing box, the dust collectoris located above the operating position, and the arrangement in the dustcollection base station is compact.

The self-moving robot can be charged synchronously during debriscollection and the like.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1-1 is a schematic diagram of a first embodiment of a self-movingrobot system according to the present disclosure.

FIG. 1-2 is a top view of a dust collection base station of theself-moving robot system, where a dust collector is not displayed.

FIG. 1-3 a is a schematic diagram when an upper flip cover of a dustcontaining box of a self-moving robot of the self-moving robot system isopened.

FIG. 1-3 b is a schematic diagram when the dust containing box isseparated from a main machine of the self-moving robot.

FIG. 1-3 c is a schematic diagram when the dust containing box ismounted on the main machine.

FIG. 1-3 d is a top view when the dust containing box is mounted on themain machine.

FIG. 1-4 is a schematic diagram of a transfer of the dust collectionbase station.

FIG. 1-5 is a schematic diagram of a working step of the self-movingrobot system, where that the dust collector is ready to be mounted isshown.

FIG. 1-6 is a schematic diagram of a working step of the self-movingrobot system, where that the self-moving robot enters the dustcollection base station is shown.

FIG. 1-7 is a schematic diagram of a working step of the self-movingrobot system, where that the transfer is ready to be engaged with thedust containing box is shown.

FIG. 1-8 is a schematic diagram of a working step of the self-movingrobot system, where that the transfer separates the dust containing boxfrom the main machine is shown.

FIG. 1-9 is a schematic diagram of a working step of the self-movingrobot system, where that the transfer lifts the dust containing box isshown.

FIG. 1-10 is a schematic diagram of a working step of the self-movingrobot system, where that the transfer horizontally transfers the dustcontaining box is shown.

FIG. 1-11 is a schematic diagram of a working step of the self-movingrobot system, where that the transfer mounts the dust containing box onthe dust collector is shown.

FIG. 1-12 is a schematic diagram of a working step of the self-movingrobot system, where that a first cover opener opens the dust containingbox and a slapping structure slaps the dust containing box is shown.

FIG. 1-13 is a schematic diagram of a working step of the self-movingrobot system, where that after debris in the dust containing box fallsinto the dust collector, a cover opening mechanism closes the dustcontaining box is shown.

FIG. 1-14 is a schematic diagram of a working step of the self-movingrobot system, where that the transfer transfers the dust containing boxto the main machine of the self-moving robot is shown.

FIG. 2-1 is a schematic diagram of a second embodiment of a self-movingrobot system according to the present disclosure.

FIG. 2-2 is a top view of the self-moving robot system.

FIG. 2-3 is a schematic diagram of a self-moving robot of theself-moving robot system.

FIG. 2-4 is a schematic diagram of a transfer of a dust collection basestation.

FIG. 2-5 a is a schematic diagram when a cover opening mechanism of theself-moving robot system is not engaged with a lower flip cover of adust containing box.

FIG. 2-5 b is a schematic diagram when the cover opening mechanism isengaged with the lower flip cover.

FIG. 2-5 c is a schematic diagram when the cover opening mechanism opensthe dust containing box.

FIG. 2-6 is a schematic diagram of a working step of the self-movingrobot system, where that the dust collector is ready to be mounted andthe self-moving robot enters the base station for charging is shown.

FIG. 2-7 is a schematic diagram of a working step of the self-movingrobot system, where that the dust collector is mounted is shown.

FIG. 2-8 is a schematic diagram of a working step of the self-movingrobot system, where that the transfer separates the dust containing boxfrom a main machine of the self-moving robot is shown.

FIG. 2-9 is a schematic diagram of a working step of the self-movingrobot system, where that the main machine of the self-moving robot movesin an exit direction is shown.

FIG. 2-10 is a schematic diagram of a working step of the self-movingrobot system, where that the transfer lifts the dust containing box isshown.

FIG. 2-11 is a schematic diagram of a working step of the self-movingrobot system, where that the transfer horizontally transfers the dustcontaining box is shown.

FIG. 2-12 is a schematic diagram of a working step of the self-movingrobot system, where that the transfer mounts the dust containing box onthe dust collector is shown.

FIG. 2-13 is a schematic diagram of a working step of the self-movingrobot system, where that the cover opener opens the dust containing boxand a slapping structure slaps the dust containing box is shown.

FIG. 3-1 is a schematic diagram when a rotational member is located at afirst position according to an embodiment.

FIG. 3-2 is a schematic diagram when a rotational member is located at asecond position according to an embodiment.

FIG. 3-3 is a schematic diagram of a working step of a self-moving robotsystem according to an embodiment, where that a loading and unloadingportion clamps a dust containing box is shown.

DESCRIPTIONS OF NUMERALS IN THE DRAWINGS

-   -   1. Dust collection base station, 11. Synchronous belt, 111.        First synchronous belt, 112. Second synchronous belt, 121 and        122. Track. 123. First track section, 124. Second track section,        125. Descending section, 13. Transfer, 130. Carrying portion,        131. Transfer frame. 135. Electromagnetic switch, 136. Snap-fit,        137. Driving spring, 138. Clamping claw, 139. Rack, 141. Rolling        bearing, 15. First cover opener, 151. Synchronous belt wheel,        152. Tension wheel, 153. Synchronous belt, 154. Pin, 155. Pin        slot, 16. Dust collector, 161. Garbage bin, 162. Transfer cover,        163. Foldable cover, 164. Pressing ring, 165. Garbage bag, 166.        Full dust detection apparatus, 17. Auxiliary dust dumping        apparatus, 18. Charger, and 19. Fan;    -   2. Self-moving robot, 21. Main machine, 22. Dust containing box,        220. Filtering element, 23. Upper flip cover, 24. Lower flip        cover, 26. Locking spring, 27. Lock pin, 28. Charging connector,        29. Linkage portion, 20A and 20B. Hook portion, 211. Button, and        212. Transferring mechanism;    -   3. Debris;    -   4. Second cover opener, 41. Driving member, and 42. Rotational        member; and    -   I. Entrance direction, and 0. Exit direction.

DETAILED DESCRIPTION

Exemplary implementations of the present embodiments are described belowin detail with reference to the accompanying drawings. It should beunderstood that these detailed descriptions are merely used for teachinga person skilled in the art to implement the present embodiments, butare not used to exhaust all possible manners of the present embodimentsand are not used for limiting the scope of the present embodiments.

As shown in FIG. 1-1 to FIG. 1-4 and FIG. 2-1 to FIG. 2-3 , the presentdisclosure provides a self-moving robot system, including a self-movingrobot 2 (for example, a sweeping robot) and a dust collection basestation 1. The self-moving robot 2 includes a main machine 21 and a dustcontaining box 22. The dust containing box 22 is detachably mounted onthe main machine 21, the dust containing box 22 is configured toaccommodate debris 3, dust, and the like, and the main machine 21includes a circuit part of the self-moving robot 2.

The dust collection base station 1 includes a charger 18, a powermechanism (not shown), a dust collector 16, and a transfer 13. Theself-moving robot 2 includes a charging connector 28, and the charger 18is configured to electrically connect the charging connector 28, tocharge the self-moving robot 2. The charger 18 may include a metalcontact, and the charging connector 28 may include a metal contactmatching the metal contact of the charger 18.

The transfer 13 can be engaged with the dust containing box 22 andassist separation of the dust containing box 22 from the main machine 21or assist mounting of the dust containing box 22 on the main machine 21.For example, a lock pin 27 is driven to exit from a lock slot, so thatthe dust containing box 22 is separated from the main machine 21, or thedust containing box 22 is loosened, and the lock pin 27 is inserted intothe lock slot, so that the dust containing box 22 is mounted on the mainmachine 21.

It should be understood that that the transfer 13 “assists” theseparation of the dust containing box 22 from the main machine 21includes the following two cases:

First, the dust containing box 22 is disassembled and removed from themain machine 21 by the transfer 13.

Second, the dust containing box 22 is actively unloaded by the mainmachine 21, for example, ejected out from the main machine/pushed out bythe main machine, and the transfer 13 is configured to receive and movethe dust containing box 22 separated from the main machine 21.

The power mechanism is connected to the transfer 13, so that thetransfer 13 moves according to a predetermined path, to transfer thedust containing box 22 to a dust collection opening of the dustcollector 16. The self-moving robot system includes a first cover opener15, where the first cover opener 15 is mounted on the dust collectionbase station 1 or the self-moving robot 2. When the dust containing box22 arrives at the dust collection opening, the first cover opener 15opens the dust containing box 22, so that the debris 3 and the like inthe dust containing box 22 fall into the dust collector 16 from the dustcollection opening. When the transfer 13 transfers the dust containingbox 22, the charger 18 may be electrically connected to the main machine21 of the self-moving robot 2, to charge the self-moving robot 2.

In the self-moving robot system, the dust containing box 22 of theself-moving robot 2 can be removed from the main machine 21, and thedust containing box 22 can be moved to the dust collection opening, sothat the debris 3 and the like in the dust containing box 22 arecollected by the dust collector 16, and the debris 3 and the like areuniformly cleaned, to prevent a user from frequently taking out thedebris. In addition, in the system, there is no need to move the entireself-moving robot 2 with a relatively small system load and a relativelylow requirement on a driving capability of a driving apparatus. The dustcontaining box 22 is transferred by the transfer 13 without using an airpump to suck the debris 3 and the like in the dust containing box 22with relatively low working noise and relatively high use comfort of theuser.

In addition, the self-moving robot 2 can be charged synchronously duringdebris 3 collection and the like.

A direction from which the self-moving robot 2 enters the dustcollection base station 1 is defined as an entrance direction I, and adirection from which the self-moving robot leaves the dust collectionbase station 1 is defined as an exit direction O.

Two specific embodiments of the self-moving robot system arerespectively described below.

First Embodiment

As shown in FIG. 1-1 to FIG. 1-4 , the power mechanism includes aconveying assembly, where the conveying assembly includes a firstconveying portion arranged in a vertical direction and a secondconveying portion arranged in a horizontal direction, and the transferis connected to the power mechanism to move along with the conveyingassembly. The conveying assembly includes a synchronous belt assembly,the first conveying portion includes a first synchronous belt, and thesecond conveying portion includes a second synchronous belt.

The power mechanism may include a driving motor (not shown). The drivingmotor drives the synchronous belt assembly, and the synchronous beltassembly includes a synchronous belt 11 and a roller, where thesynchronous belt 11 is mounted on the roller, and the roller is drivenby the driving motor to drive the synchronous belt 11. The synchronousbelt 11 includes a first synchronous belt 111 arranged in a verticaldirection and a second synchronous belt 112 arranged in a horizontaldirection.

In another implementation, the power mechanism may further includeanother structure such as a gear and rack mechanism, a link mechanism, asteel wire or a chain, or a screw and a screw rod.

For example, the power mechanism includes a rack assembly and a gearassembly mounted on the transfer, and the gear assembly meshes with therack assembly and rotates to drive the transfer to move.

The dust collector 16 may be located beside the first synchronous belt111 and below the second synchronous belt 112. The transfer 13 may beconnected to the synchronous belt assembly, for example, riveted to thesynchronous belt 11 or tightly fixed to the synchronous belt 11 througha bolt, so that the transfer 13 can follow the synchronous belt assemblyto move to the dust collection opening along the first synchronous belt111 and the second synchronous belt 112. The dust collection basestation 1 includes an operating position for the self-moving robot 2 tostop. The charger 18 may be arranged at the operating position, the dustcollector 16 is arranged higher than the charger 18 (the operatingposition), the self-moving robot 2 enters and exits the dust collectionbase station 1 below the dust collector 16, and the conveying assemblyis located on a lateral upper side of the dust collector 16. When thetransfer 13 transfers the dust containing box 22, the dust collector 16is located above the operating position, so that the structure in thedust collection base station 1 is compact.

The dust collection base station 1 may further include a sealingportion, where the sealing portion is configured to sealedly connect thedust containing box 22 and the dust collection opening, to avoid leakageof dust and the like.

In this embodiment, the sealing portion may include a transfer cover162, and the dust collector 16 may include a garbage bin 161 and thetransfer cover 162, where the garbage bin 161 is provided with the dustcollection opening, and the garbage bin 161 may be used with a garbagebag. The transfer cover 162 is provided with a large opening end and asmall opening end, an aperture of the large opening end is greater thanan aperture of the small opening end, the large opening end of thetransfer cover 162 is sleeved with the dust collection opening, and thesmall opening end is configured to be aligned with the dust containingbox 22. When the dust containing box 22 is moved above the dustcollector 16, a debris dumping opening of the dust containing box 22 canbe engaged with the small opening end of the transfer cover 162, so thatwhen the debris 3 and the like are dumped, there is no dust leakage gapbetween the dust containing box 22 and the garbage bin 161, to avoiddust raising.

In another embodiment, an air hole may be provided on one side of thegarbage bin 161, and a fan is mounted on an outer side wall of thegarbage bin 161, so that a space between the garbage bin 161 and thegarbage bag may be vacuumized through rotation of the fan, and thegarbage bag is placed close to an inner wall of the garbage bin 161under the action of atmospheric pressure.

In another embodiment, the dust collector 16 may further have a garbagebin mounting position but does not include the garbage bin 161, and theuser may directly place a household garbage bin at the mounting positionor cover the garbage bin mounting position with a garbage bag.

In another embodiment, the self-moving robot system further includes atransmission mechanism configured to control the dust collector 16 tomove. Optionally, the transmission mechanism includes a transmissionbelt and a driving motor. Optionally, the transmission belt may drivethe dust collector to respectively move to a garbage bag mountingposition outside the dust collection base station 1, an internal moprecycle position, and a dust collection initial position. Optionally,the dust collection initial position may be located between the garbagebag mounting position and the mop recycle position.

As shown in FIG. 1-13 , a full dust detection apparatus 166 such as aninfrared sensor, an ultrasonic sensor, or a distance sensor is furthermounted on an upper edge of the garbage bin 161. When debris and thelike are about to fill up the garbage bin 161, the full dust detectionapparatus 166 detects this case and reminds the user to empty thegarbage bin.

The dust collection base station 1 may further include a track 121closely attached to the synchronous belt 11 and a track 122 spaced apartfrom the synchronous belt 11, where the tracks 121 and 122 may beapproximately parallel to the synchronous belt 11. The transfer 13 maybe limited by the tracks 121 and 122 to move along the tracks 121 and122 from a head end to a tail end. The tracks 121 and 122 each mayinclude a first track section 123 parallel to a transmission trajectoryof the first synchronous belt 111, a second track section 124 parallelto a transmission trajectory of the second synchronous belt 112, and adescending section 125 connected to the second track section 124. Thedescending section 125 may be inclined relative to a vertical directionand arranged on a tail end of each of the tracks 121 and 122. Thetransfer 13 moves in the vertical direction along the first tracksection 123, moves in the horizontal direction along the second tracksection 124, and descends along the descending section 125, so that thedust containing box 22 can pass over the transfer cover 162 in heightand then descend to be closely attached to the transfer cover 162.

The transfer 13 may include a plurality of rolling bearings 141, wherethe rolling bearings 141 are mounted in the tracks 121 and 122, so thatthe transfer 13 is rollably connected to the tracks 121 and 122.

As shown in FIG. 1-3 a to FIG. 1-3 d, the self-moving robot 2 mayinclude the first cover opener 15, and the first cover opener 15 may befixedly mounted on the dust containing box 22 of the self-moving robot 2and is transferred together with the dust containing box 22. The dustcontaining box 22 includes an upper flip cover 23 and a lower flip cover24 (a box cover). The upper flip cover 23 is operated manually to openor close the dust containing box 22, and the lower flip cover 24 isoperated by a cover opening mechanism to open and close the dustcontaining box 22. The upper flip cover 23 may be located on an uppersurface of the dust containing box 22, and the lower flip cover 24 maybe located on a lower surface of the dust containing box 22, tofacilitate manual cover opening and automatic cover opening.

The dust containing box 22 may further be provided with a filteringelement 220. When the self-moving robot 2 works, the filtering element220 filters sucked debris. The filtering element 220 may include a highefficiency particulate air (HEPA) filter, a sponge mat, nonwoven fabric,or the like.

The first cover opener 15 includes a cover opening motor and arotational portion, where the rotational portion may include asynchronous belt wheel 151, a tension wheel 152, and a synchronous belt153. The synchronous belt wheel 151 may be mounted on an output end ofthe cover opening motor, the synchronous belt wheel 151 is connected tothe tension wheel 152 by the synchronous belt 153, and the cover openingmotor drives the rotational portion to rotate, that is, drives thesynchronous belt wheel 151 and the tension wheel 152 to rotate anddrives the synchronous belt 153 to roll. The cover opening motor may bemounted on the dust containing box 22, and the rotational portion may bemounted on the lower flip cover 24 of the dust containing box 22. Thefirst cover opener 15 and the dust containing box 22 are fixedlymounted, so that the first cover opener 15 is reliably connected to thedust containing box 22. When the dust containing box 22 is moved to thedust collection opening of the dust collector 16, the cover openingmotor drives the rotational portion to rotate, so as to open the lowerflip cover 24. after the dust containing box 22 completes debrisdumping, the cover opening motor drives the rotational portion torotate, so as to close the lower flip cover 24.

In another embodiment, the first cover opener 15 may further include alinkage mechanism arranged inside the dust containing box 22, and afterclamping the dust containing box 22, the transfer 13 opens and closesthe lower flip cover 24 by acting on the linkage mechanism.

As shown in FIG. 1-2 , a contact electrode may be arranged at a positionwhere the dust containing box 22 corresponds to the transfer 13. Whenthe transfer 13 is engaged with the dust containing box 22, the contactelectrode is conducted, so that a power supply of the cover openingmotor is turned on, and whether the first cover opener 15 is opened ornot may be controlled as required.

As shown in FIG. 1-1 and FIG. 1-2 , the transfer 13 includes a powersource, a transfer frame 131 and a loading and unloading portion, wherethe loading and unloading portion is configured to operate the dustcontaining box 22 to be separated from the main machine 21 or mounted onthe main machine 21. The loading and unloading portion may specificallyinclude a clamping claw 138. The transfer frame 131 is mounted on thesynchronous belt 11 (the power mechanism), and the power source and theclamping claw 138 are mounted on the transfer frame 131. The powersource includes a clamping motor and a gear (a first gear structure),and the clamping claw 138 includes a rack 139 (a second rack structure).The gear driven by the clamping motor meshes with the rack 139, so thatthe rack 139 drives the clamping claw 138 to clamp or loosen the dustcontaining box 22.

In this embodiment, the loading and unloading portion is located on thetransfer 13. In another embodiment, the loading and unloading portionmay further be located on the self-moving robot.

A lock pin 27 and a linkage portion 29 are arranged in the dustcontaining box 22. When the clamping claw 138 is engaged with thelinkage portion 29 and pushes the linkage portion 29 in the horizontaldirection, the lock pin 27 can be linked to the linkage portion 29, soas to exit the lock slot. The linkage portion 29 is provided with alocking spring 26 connected to the lock pin 27, and the lock slot isprovided on the main machine 21 of the self-moving robot 2. For example,the linkage portion 29 may be located at the downstream of the lock pin27 in the entrance direction I, and the linkage portion 29 and the lockpin 27 may simultaneously move in two opposite directions in thehorizontal direction.

When the transfer 13 is engaged with the dust containing box 22, theclamping claw 138 tightly clamps the linkage portion 29 and may push thelinkage portion 29 in the exit direction O. When the linkage portion 29moves, the locking spring 26 is compressed, and the lock pin 27 islinked to the linkage portion 29 and moves in the entrance direction Ito exit the lock slot (as shown in FIG. 1-3 b). When the transfer 13loosens the dust containing box 22, the clamping claw 138 loosens thelinkage portion 29, and the lock pin 27 is ejected by an elastic forceof the locking spring 26 in the exit direction O, so that the lock pin27 is inserted into the lock slot (as shown in FIG. 1-3 c).

In an embodiment, as shown in FIG. 3-1 and FIG. 3-2 , the self-movingrobot system includes a second cover opener 4, where the second coveropener 4 includes: a driving member 41, arranged on the loading andunloading portion; and a rotational member 42, arranged on one side ofthe dust containing box 22 and being in contact with the box cover (thatis, the lower flip cover 24) of the dust containing box 22, where therotational member 42 is configured to rotate between a first positionand a second position under the drive of the driving member 41; when therotational member 42 is located at the first position, the box cover isclosed; and when the rotational member 42 rotates from the firstposition to the second position, the box cover is opened under the driveof the rotational member 42.

Optionally, still referring to FIG. 3-1 and FIG. 3-2 , one end of therotational member 42 is rotatably connected to the dust containing box22 by a connecting shaft, and one end of the rotational member away fromthe connecting shaft is in contact with the box cover under the actionof gravity. When the rotational member 42 is located at the firstposition, the box cover is closed; and when the rotational member 42rotates around the connecting shaft under the drive of the drivingmember 41 to the second position, one end of the rotational member 42away from the connecting shaft pushes the box cover to be opened, sothat dust in the dust containing box falls into the dust collector 16.Optionally, the rotational member 42 is provided with a limitingportion. When the rotational member 42 is located at the first position,there is a space between one end of the box cover away from therotational member 42 and the limiting portion, and when the rotationalmember 42 rotates around the connecting shaft under the drive of thedriving member 41 to the second position, one end of the box cover awayfrom the rotational member 42 abuts against the limiting portion, andone end of the rotational member 42 away from the connecting shaft abutsagainst the box cover, so that the rotational member 42 and the boxcover limit each other.

Optionally, as shown in FIG. 3-3 , a time sequence process in which theloading and unloading portion clamps and opens the dust containing boxis shown. The loading and unloading portion may be provided with theclamping claw 138, and the driving member 41 may be arranged on one sideof an end portion of the clamping claw 138 and independent of theclamping claw 138. First, after the clamping claw 138 tightens inward,clamps the dust containing box 22, and transfers the dust containing boxto the dust collection opening (a time sequence 2), the driving member41 may move to one end of the rotational member 42 close to theconnecting shaft under an external force (a time sequence 3), to pushthe rotational member 42 to rotate. After dust in the dust containingbox 22 has been dumped, the external force on the driving member 41 isreleased, to reset the driving member 41 (a time sequence 4), so thatthe rotational member 42 is reset, that is, the rotational member 42rotates from the second position to the first position, and when therotational member 42 rotates back to the first position, the box coveris closed again.

As shown in FIG. 1-3 d, the self-moving robot 2 includes an operatingportion, where the operating portion can assist separation of the dustcontaining box 22 from the main machine 21 or mounting of the dustcontaining box on the main machine 21 in response to pressing orreleasing pressing of a user. Specifically, when the dust containing box22 is manually opened, for example, a button 211 (the operating portion)is pressed in a direction of an arrow A, to compress the locking spring26, the linkage portion 29 moves and drives the lock pin 27 by using atransfer mechanism 212, and the transfer mechanism 212 causes thelinkage portion 29 and the lock pin 27 to be close to each other, forexample, the linkage portion 29 moves in a direction of an arrow B2, andthe lock pin 27 moves in a direction of an arrow B1, so that the lockpin 27 is retracted and unlocked from the main machine 21.

The dust containing box 22 is provided with an upwardly open engagementgroove, and the main machine 21 is provided an upwardly open openingthrough which the dust containing box 22 is separated from the mainmachine 21. The clamping claw 138 can enter the engagement groove andtightly clamp the dust containing box 22, and the clamping claw 138moves vertically along the first synchronous belt 111 after tightlyclamping the dust containing box 22.

When the transfer 13 transfers the dust containing box 22, the clampingclaw 138 bears the entire weight of the dust containing box 22, and astructure in which the gear meshes with the rack 139 can provide areliable locking force, thereby ensuring that the dust containing box 22is stably and reliably transferred.

The clamping claw 138 can apply a force to the dust containing box 22 tocause the lock pin 27 to exit the lock slot, so as to assist separationof the dust containing box 22 from the main machine 21 and can furtherrelease the force applied to the lock pin 27 to cause the lock pin 27 tobe inserted into the lock slot, so as to assist mounting of the dustcontaining box 22 on the main machine 21.

The dust collection base station 1 may further include an auxiliary dustdumping apparatus 17 (which is shown in FIG. 2-2 ), where the auxiliarydust dumping apparatus 17 includes a vibration motor and an eccentricblock (an eccentric assembly). The vibration motor drives the eccentricblock to vibrate, the vibration motor may be mounted on the transferframe 131 (the auxiliary dust dumping apparatus 17 is mounted on thetransfer 13) and move along with the transfer 13, and the eccentricblock can be connected to the dust containing box 22 or in contact withthe dust containing box 22, to drive the dust containing box 22 tovibrate. When the dust containing box 22 is transferred to the dustcollection opening, the auxiliary dust dumping apparatus 17 slaps thedust containing box 22, to facilitate dumping of the debris 3 and thelike.

The auxiliary dust dumping apparatus 17 may further include, forexample, four shock-absorbing balls (dampers), where the shock-absorbingball may be connected between the vibration motor and the transfer 13,for example, connected between the vibration motor and the transferframe 131. The shock-absorbing ball has a function of shock absorption,to reduce a vibration force transmitted by the vibration motor to thetransfer frame 131 and enable the vibration force to act on the dustcontaining box 22 as much as possible.

The dust collection base station 1 includes a control system, where thecontrol system is configured to control the driving motor, the clampingmotor, the cover opening motor, the vibration motor, and the like.

A working process of the self-moving robot system, that is, a controlmethod for the self-moving robot system is described below withreference to FIG. 1-5 to FIG. 1-14 .

Dust Collector Mounting Step

As shown in FIG. 1-5 , the dust collector 16 is mounted, for example,the dust collector 16 (the garbage bin 161) may be mounted in theentrance direction I.

Robot Entrance Step

As shown in FIG. 1-6 , the self-moving robot 2 enters the base station,the transfer 13 descends and closes to the self-moving robot 2, and thecharger 18 is connected to the charging connector 28.

Dust Containing Box Separation Step

As shown in FIG. 1-7 , the transfer 13 continues to close to theself-moving robot 2, and the transfer 13 is engaged with the dustcontaining box 22 and assists separation of the dust containing box 22from the main machine 21, for example, the clamping claw 138 enters theengagement groove and is ready to engage with the dust containing box22. As shown in FIG. 1-8 , the clamping motor drives the clamping claw138 to tightly clamp the dust containing box 22, the lock pin 27 exitsfrom the lock slot, and the dust containing box 22 is separated from themain machine 21 of the self-moving robot 2.

Transfer Step

The transfer 13 transfers the dust containing box 22 to the dustcollection opening. As shown in FIG. 1-9 , the transfer 13 moves alongthe first synchronous belt 111 and the first track section 123, to liftthe dust containing box 22, and the dust containing box 22 is separatedfrom the main machine 21 in the vertical direction. As shown in FIG.1-10 , the transfer 13 moves along the second synchronous belt 112 andthe second track section 124, to move the dust containing box 22 in thehorizontal direction, so that the dust containing box 22 is locatedabove the dust collector 16. As shown in FIG. 1-11 , the transfer 13descends along the descending section 125, so that the dust containingbox 22 is aligned with the dust collection opening and is sealedlyconnected to the dust collection opening, that is, the dust containingbox 22 is closely connected to the transfer cover 162.

Cover Opening Step

As shown in FIG. 1-12 , the first cover opener 15 opens the lower flipcover 24 of the dust containing box 22, for example, the cover openingmotor is turned on, the rotational portion rotates, and the lower flipcover 24 of the dust containing box 22 is opened as the rotation of therotational portion.

Slapping Step

The auxiliary dust dumping apparatus 17 is started, for example, thevibration motor is turned on, to slap the dust containing box 22. Asshown in FIG. 1-13 , after the debris 3 and the like are dumped, thecover opening motor reversely rotates, the lower flip cover 24 of thedust containing box 22 is closed as the rotation of the rotationalportion, and the vibration motor is closed.

Returning Step

As shown in FIG. 1-14 , the transfer 13 descends, the clamping motordrives the clamping claw 138 to loosen the dust containing box 22, thelock pin 27 is inserted into the lock slot, and the dust containing box22 is mounted on the main machine 21 of the self-moving robot 2.

Orders of the dust collector mounting step and the robot entrance stepmay be exchanged.

Second Embodiment

A structure of a self-moving robot system in the second embodiment issimilar to the structure of the self-moving robot system in the firstembodiment, and only a difference between the two is described in thispart.

As shown in FIG. 2-1 to FIG. 2-4 , the dust collection base station 1does not include the track 121 closely attached to the synchronous belt11 but includes only the track 122 spaced apart from the synchronousbelt 11.

The transfer 13 includes a power source, a transfer frame 131, and asnap-fit 136 (the transfer does not include the clamping claw 138 in thefirst embodiment, and the snap-fit 136 is used as the loading andunloading portion of the transfer 13), the transfer frame 131 isconnected to the power mechanism and includes a carrying portion 130,and the power source and the snap-fit 136 are mounted on the transferframe 131. The power source includes an electromagnetic switch 135 and adriving spring 137 (and the power source does not include the clampingmotor and the gear and rack structure in the first embodiment). Thesnap-fit 136 is connected to the driving spring 137, and the snap-fit136 can enter the engagement groove of the dust containing box 22 andpush the lock pin 27.

Specifically, the driving spring 137 may be arranged in the verticaldirection, the electromagnetic switch 135 may be turned on, so that thesnap-fit 136 moves upward to loosen the lock pin 27, the lock pin 27 isinserted into the lock slot, and the dust containing box 22 is mountedon the main machine 21. When the electromagnetic switch 135 is turnedoff, an elastic force of the driving spring 137 enables the snap-fit 136to move downward to push the lock pin 27 to exit the lock slot, and thedust containing box 22 is separated from the main machine 21.

Alternatively, the dust containing box 22 may be unlocked by pressingthe operating portion and separated from the main machine 21. After thedust containing box 22 is separated from the main machine 21, thetransfer 13 may transfer the dust containing box 22. The main machine 21may alternatively leave first after ejecting out the dust containing box22, and the dust containing box 22 is left in situ and transferred bythe transfer 13.

As shown in FIG. 2-3 , the lock pin 27 may include an upward hookportion 20A configured to be inserted into the lock slot of the mainmachine 21 to be hooked with the main machine 21. The lock pin 27 mayfurther include a hook portion 20B that is open upward and downstream inthe entrance direction I and is arranged on one side close to the dustcollection base station 1. The hook portion 20B is configured to behooked with the snap-fit 136. On one hand, it is convenient to push thelock pin 27 downward to compress the locking spring 26, so as to releasethe hooking of the lock pin 27 and the main machine 21, and on the otherhand, the dust containing box 22 is prevented from separating from thetransfer 13 in the entrance direction I. The carrying portion 130supports the dust containing box 22 from the bottom, and the snap-fit136 hooks the dust containing box 22 at the downstream of the entrancedirection I, thereby stably holding the dust containing box 22.

The main machine 21 is provided with an opening that is open in thehorizontal direction. When the transfer 13 transfers the dust containingbox 22, the main machine 21 of the self-moving robot 2 moves in the exitdirection O by a small distance, for example, about 5 cm, so as torelease blocking on the dust containing box 22 in the verticaldirection.

The carrying portion 130 is disc-shaped and provided with an opening forcarrying the dust containing box 22 separated from the main machine 21.When the transfer 13 lifts the dust containing box 22, the carryingportion 130 can reliably carry the dust containing box 22.

Two sides of the opening in a thickness direction of the carryingportion 130 are respectively provided with the large opening end and thesmall opening end. The carrying portion 130 can be used as a sealingportion to seal the dust collection opening and the dust containing box22, and the carrying portion 130 can cover the dust collection opening.

As shown in FIG. 2-1 , the dust collector 16 may further include a fan19, where the fan 19 may be mounted on a side wall of the garbage bin161. When the garbage bag 165 is replaced, the fan 19 may be started tosuck the interior of the garbage bin 161, so that the garbage bag 165can be attached to the inner wall of the garbage bin 161. The power ofthe fan 19 is much smaller than the power of an air pump of aconventional suction-type dust collection base station, and the noise isextremely low. The fan 19 is started only when the garbage bag 165 isreplaced.

The dust collector 16 may further include a pressing ring 164, and apressing groove may be provided at the dust collection opening of thegarbage bin 161, and a mouth of the garbage bag 165 can enter thepressing groove and is pressed by the pressing ring 164, so that thegarbage bag 165 is stably fixed.

The dust collector 16 may further include a foldable cover 163 (the dustcollector does not include the transfer cover 162 in the firstembodiment), where the foldable cover 163 can cover the dust collectionopening when being unfolded. When the transfer 13 transfers the dustcontaining box 22 to move the dust containing box 22 in the horizontaldirection, the dust containing box 22 can simultaneously push thefoldable cover 163 to be folded, so as to expose the dust collectionopening. When the carrying portion 130 covers the dust collectionopening, the foldable cover 163 is folded, and the dust containing box22 is sealedly connected to the dust collection opening.

When the debris 3 and the like are not dumped, the foldable cover 163covers the garbage bin 161 to prevent odor and dust from overflowing.

As shown in FIG. 2-5 a to FIG. 2-5 c, the tension wheel 152 of the firstcover opener 15 may be provided with a pin slot 155, a transverseline-shaped pin 154 may be mounted on the lower flip cover 24, and thepin 154 is inserted into the pin slot 155. When the tension wheel 152rotates, the lower flip cover 24 rotates together to open or close thedust containing box 22. The first cover opener 15 may be mounted on thetransfer 13. Specifically, the cover opening motor may be mounted on thetransfer frame 131, and the pin slot 155 of the tension wheel 152 may bedetachably mounted with the pin 154 of the lower flip cover 24. When thedust containing box 22 is engaged with the transfer 13, the first coveropener 15 is connected to the lower flip cover 24 of the dust containingbox 22, that is, the pin 154 is inserted into the pin slot 155 (as shownin FIG. 2-5 b and FIG. 2-5 c). When the dust containing box 22 isdisengaged from the transfer 13, the first cover opener 15 is separatedfrom the lower flip cover 24, that is, the pin 154 leaves the pin slot155 (as shown in FIG. 2-5 a).

A working process of the self-moving robot system is described belowwith reference to FIG. 2-6 to FIG. 2-13 .

As shown in FIG. 2-6 and FIG. 2-7 , the dust collector 16 may be mountedin the entrance direction I.

As shown in FIG. 2-8 , the self-moving robot 2 enters the base station,the electromagnetic switch 135 is turned on, the driving spring 137 iscompressed, and the charging connector 28 of the self-moving robot 2 isconnected to the charger 18.

As shown in FIG. 2-9 , the transfer 13 continues to close to theself-moving robot 2, the electromagnetic switch 135 may be turned off,the driving spring 137 drives the snap-fit 136 to reset and movedownward, the snap-fit 136 pushes the lock pin 27 downward, the lock pin27 exits from the lock slot, the dust containing box 22 is separatedfrom the main machine 21 of the self-moving robot 2, and the rotationalportion is connected to the dust containing box 22.

The self-moving robot 2 moves in the exit direction O, to releaseblocking on the dust containing box 22 in the vertical direction, andthe carrying portion 130 carries the dust containing box 22.

As shown in FIG. 2-10 , the transfer 13 moves along the firstsynchronous belt 111 and the first track section 123, to lift the dustcontaining box 22, and the dust containing box 22 is separated from themain machine 21 in the vertical direction.

As shown in FIG. 2-11 , the transfer 13 moves along the secondsynchronous belt 112 and the second track section 124, to move the dustcontaining box 22 to be located above the dust collector 16 in thehorizontal direction.

As shown in FIG. 2-12 , the transfer 13 descends along the descendingsection 125, so that the dust containing box 22 is sealedly connected tothe dust collection opening.

As shown in FIG. 2-13 , the cover opening motor is started, the lowerflip cover 24 of the dust containing box 22 is opened as the rotation ofthe rotational portion, and the vibration motor is started to slap thedust containing box 22.

The control system of the dust collection base station 1 is configuredto control the driving motor, the electromagnetic switch 135, the coveropening motor, the vibration motor, the fan 19, and the like.

In another embodiment, the transfer 13 may be indirectly connected tothe synchronous belt 11 (the power mechanism) by a support, providedthat the transfer 13 moves under the drive of the synchronous belt 11.

In another embodiment, the dust collector 16 may further be mounted inthe dust collection base station 1 from sides of the entrance directionI and the exit direction O.

In another embodiment, the descending section 125 may be arranged in thevertical direction.

It should be understood that the implementations are merely exemplary,and are not intended to limit the present disclosure. A person skilledin the art may make various variations and changes to the foregoingimplementations of the present disclosure with the teachings of thepresent disclosure without departing from the scope of the presentdisclosure.

1-17. (canceled)
 18. A self-moving robot system, comprising a dustcollection base station and a self-moving robot, wherein the dustcollection base station is configured to collect debris of theself-moving robot, and the self-moving robot comprises a main machineand a dust containing box, wherein the dust containing box is detachablymounted on the main machine; the dust collection base station comprisesa power mechanism and a transfer, wherein the transfer can be engagedwith the dust containing box and assist separation of the dustcontaining box from the main machine or assist mounting of the dustcontaining box on the main machine; and the power mechanism drives thetransfer and enables the transfer to move the dust containing box to anupper part of a dust collector that collects debris from the dustcontaining box, and when the dust containing box is opened, the debrisfalls into the dust collector from a dust collection opening of the dustcollector.
 19. The self-moving robot system according to claim 18,wherein the dust collector is a household garbage bin or garbage bag,and the household garbage bin or garbage bag is independent of theself-moving robot system.
 20. The self-moving robot system according toclaim 18, comprising the dust collector, wherein the dust collector isarranged in the dust collection base station.
 21. The self-moving robotsystem according to claim 18, further comprising a first cover opener,wherein the first cover opener can open or close a box cover of the dustcontaining box, and when the box cover of the dust containing box isopened, the debris in the dust containing box can be transferred to thedust collector.
 22. The self-moving robot system according to claim 18,wherein the dust collection base station comprises an operating positionfor the self-moving robot to stop, and the dust collector is locatedabove the operating position.
 23. The self-moving robot system accordingto claim 18, wherein the power mechanism comprises a conveying assembly,wherein the conveying assembly comprises a first conveying portionarranged in a vertical direction and a second conveying portion arrangedin a horizontal direction, and the transfer is connected to the powermechanism to move along with the conveying assembly.
 24. The self-movingrobot system according to claim 23, wherein the conveying assemblycomprises a synchronous belt assembly, the first conveying portioncomprises a first synchronous belt, and the second conveying portioncomprises a second synchronous belt.
 25. The self-moving robot systemaccording to claim 18, comprising a loading and unloading portion,wherein the loading and unloading portion is configured to operate thedust containing box to be separated from the main machine or be mountedon the main machine.
 26. The self-moving robot system according to claim25, wherein one of the dust containing box and the main machinecomprises a lock pin, the other of the dust containing box and the mainmachine comprises a lock slot, and the lock pin can be inserted into orexit from the lock slot; the loading and unloading portion can apply aforce to one of the dust containing box and the main machine, so thatthe lock pin exits from the lock slot, to assist separation of the dustcontaining box from the main machine; and/or the loading and unloadingportion can release the force applied to the lock pin, so that the lockpin is inserted into the lock slot, to assist mounting of the dustcontaining box on the main machine.
 27. The self-moving robot systemaccording to claim 26, wherein the loading and unloading portioncomprises a snap-fit, the transfer comprises an electromagnetic switch,a driving spring, and a carrying portion, the snap-fit is connected tothe driving spring, the electromagnetic switch drives the snap-fit topush or release the lock pin, and the carrying portion is configured tocarry the dust containing box separated from the main machine; or theloading and unloading portion comprises a clamping claw, the transfercomprises a clamping motor and a first gear structure, the clamping clawcomprises a second rack structure, and the first gear structure drivenby the clamping motor meshes with the second rack structure, to drivethe clamping claw to clamp or loosen the dust containing box.
 28. Theself-moving robot system according to claim 18, wherein the self-movingrobot comprises an operating portion, wherein the operating portion canassist separation of the dust containing box from the main machine ormounting of the dust containing box on the main machine in response topressing or releasing pressing of a user.
 29. The self-moving robotsystem according to claim 18, wherein the dust collection base stationcomprises a sealing portion, wherein the sealing portion can be sealedlyconnected to the dust containing box and the dust collection opening.30. The self-moving robot system according to claim 29, wherein thesealing portion is provided with a large opening end and a small openingend, an aperture of the large opening end is greater than an aperture ofthe small opening end, the large opening end is configured to be sleevedwith the dust collection opening, and the small opening end isconfigured to connect the dust containing box.
 31. The self-moving robotsystem according to claim 18, wherein the dust collection base stationfurther comprises an auxiliary dust dumping apparatus, wherein theauxiliary dust dumping apparatus comprises a vibration motor and aneccentric assembly, the vibration motor drives the eccentric assembly tovibrate, the auxiliary dust dumping apparatus is arranged on thetransfer and moves along with the transfer, and the eccentric assemblycan be connected to or in contact with the dust containing box, so thatwhen vibrating, the eccentric assembly can drive the dust containing boxto vibrate.
 32. The self-moving robot system according to claim 31,wherein the auxiliary dust dumping apparatus comprises a damper, whereinthe damper is connected between the vibration motor and the transfer.33. The self-moving robot system according to claim 18, wherein the dustcollection base station comprises a charger, wherein when theself-moving robot stops at the dust collection base station, the chargeris electrically connected to the self-moving robot to charge theself-moving robot.
 34. The self-moving robot system according to claim18, wherein the dust collector comprises a garbage bin and a foldablecover, wherein the garbage bin is provided with the dust collectionopening, the foldable cover can cover the dust collection opening whenbeing unfolded, and when the transfer transfers the dust containing box,the dust containing box can push the foldable cover to be folded, so asto expose the dust collection opening.
 35. The self-moving robot systemaccording to claim 21, wherein the first cover opener comprises a coveropening motor and a rotational portion, wherein the rotational portionis connected to the box cover of the dust containing box, and when thedust containing box is moved to the dust collection opening of the dustcollector, the cover opening motor drives the rotational portion torotate, so as to open the box cover of the dust containing box; andafter the dust containing box completes debris dumping, the coveropening motor drives the rotational portion to rotate, so as to closethe box cover of the dust containing box.
 36. The self-moving robotsystem according to claim 25, comprising a second cover opener, whereinthe second cover opener comprises: a driving member, arranged on theloading and unloading portion; and a rotational member, arranged on oneside of the dust containing box and being in contact with the box coverof the dust containing box, wherein the rotational member is configuredto rotate between a first position and a second position under the driveof the driving member; when the rotational member is located at thefirst position, the box cover is closed; and when the rotational memberrotates from the first position to the second position, the box cover isopened under the drive of the rotational member.